stepper: Check if the motor needs to be enabled in the kinematic classes

Check for motor enable in the kinematic classes so it doesn't need to
be checked on every move.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

klippy/delta.py

@@ -13,6 +13,7 @@ class DeltaKinematics:
         steppers = ['stepper_a', 'stepper_b', 'stepper_c']
         self.steppers = [stepper.PrinterStepper(printer, config.getsection(n))
                          for n in steppers]
+        self.need_motor_enable = True
         radius = config.getfloat('delta_radius')
         arm_length = config.getfloat('delta_arm_length')
         self.arm_length2 = arm_length**2
@@ -105,6 +106,11 @@ class DeltaKinematics:
         self.limit_xy2 = -1.
         for stepper in self.steppers:
             stepper.motor_enable(move_time, 0)
+        self.need_motor_enable = True
+    def check_motor_enable(self, move_time):
+        for i in StepList:
+            self.steppers[i].motor_enable(move_time, 1)
+        self.need_motor_enable = False
     def query_endstops(self, move_time):
         return homing.QueryEndstops(["a", "b", "c"], self.steppers)
     def check_move(self, move):
@@ -120,6 +126,8 @@ class DeltaKinematics:
     def move_z(self, move_time, move):
         if not move.axes_d[2]:
             return
+        if self.need_motor_enable:
+            self.check_motor_enable(move_time)
         inv_accel = 1. / move.accel
         inv_cruise_v = 1. / move.cruise_v
         for i in StepList:
@@ -128,7 +136,8 @@ class DeltaKinematics:
             tower_d2 = towerx_d**2 + towery_d**2
             height = math.sqrt(self.arm_length2 - tower_d2) + move.start_pos[2]
 
-            mcu_time, so = self.steppers[i].prep_move(move_time)
+            mcu_stepper = self.steppers[i].mcu_stepper
+            mcu_time = mcu_stepper.print_to_mcu_time(move_time)
             inv_step_dist = self.steppers[i].inv_step_dist
             step_dist = self.steppers[i].step_dist
             steps = move.axes_d[2] * inv_step_dist
@@ -143,7 +152,7 @@ class DeltaKinematics:
                 accel_time_offset = move.start_v * inv_accel
                 accel_sqrt_offset = accel_time_offset**2
                 accel_steps = move.accel_r * steps
-                count = so.step_sqrt(
+                count = mcu_stepper.step_sqrt(
                     mcu_time - accel_time_offset, accel_steps, step_offset
                     , accel_sqrt_offset, accel_multiplier)
                 step_pos += count
@@ -154,7 +163,7 @@ class DeltaKinematics:
                 #t = pos/cruise_v
                 cruise_multiplier = step_dist * inv_cruise_v
                 cruise_steps = move.cruise_r * steps
-                count = so.step_factor(
+                count = mcu_stepper.step_factor(
                     mcu_time, cruise_steps, step_offset, cruise_multiplier)
                 step_pos += count
                 step_offset += count - cruise_steps
@@ -165,7 +174,7 @@ class DeltaKinematics:
                 decel_time_offset = move.cruise_v * inv_accel
                 decel_sqrt_offset = decel_time_offset**2
                 decel_steps = move.decel_r * steps
-                count = so.step_sqrt(
+                count = mcu_stepper.step_sqrt(
                     mcu_time + decel_time_offset, decel_steps, step_offset
                     , decel_sqrt_offset, -accel_multiplier)
                 step_pos += count
@@ -175,6 +184,8 @@ class DeltaKinematics:
         if not axes_d[0] and not axes_d[1]:
             self.move_z(move_time, move)
             return
+        if self.need_motor_enable:
+            self.check_motor_enable(move_time)
         move_d = move.move_d
         movez_r = 0.
         inv_movexy_d = 1. / move_d
@@ -243,44 +254,45 @@ class DeltaKinematics:
             step_dist = self.steppers[i].step_dist
             step_pos = self.stepper_pos[i]
             height = step_pos*step_dist - closestz
-            mcu_time, so = self.steppers[i].prep_move(move_time)
+            mcu_stepper = self.steppers[i].mcu_stepper
+            mcu_time = mcu_stepper.print_to_mcu_time(move_time)
             if accel_up_d > 0.:
-                count = so.step_delta_accel(
+                count = mcu_stepper.step_delta_accel(
                     mcu_time - accel_time_offset, closest_d - accel_up_d,
                     step_dist, closest_d + accel_offset,
                     closest_height2, height, movez_r, accel_multiplier)
                 step_pos += count
                 height += count * step_dist
             if cruise_up_d > 0.:
-                count = so.step_delta_const(
+                count = mcu_stepper.step_delta_const(
                     mcu_time + accel_t, closest_d - cruise_up_d,
                     step_dist, closest_d - accel_d,
                     closest_height2, height, movez_r, inv_cruise_v)
                 step_pos += count
                 height += count * step_dist
             if decel_up_d > 0.:
-                count = so.step_delta_accel(
+                count = mcu_stepper.step_delta_accel(
                     mcu_time + decel_time_offset, closest_d - decel_up_d,
                     step_dist, closest_d - decel_offset,
                     closest_height2, height, movez_r, -accel_multiplier)
                 step_pos += count
                 height += count * step_dist
             if accel_down_d > 0.:
-                count = so.step_delta_accel(
+                count = mcu_stepper.step_delta_accel(
                     mcu_time - accel_time_offset, closest_d - accel_down_d,
                     -step_dist, closest_d + accel_offset,
                     closest_height2, height, movez_r, accel_multiplier)
                 step_pos += count
                 height += count * step_dist
             if cruise_down_d > 0.:
-                count = so.step_delta_const(
+                count = mcu_stepper.step_delta_const(
                     mcu_time + accel_t, closest_d - cruise_down_d,
                     -step_dist, closest_d - accel_d,
                     closest_height2, height, movez_r, inv_cruise_v)
                 step_pos += count
                 height += count * step_dist
             if decel_down_d > 0.:
-                count = so.step_delta_accel(
+                count = mcu_stepper.step_delta_accel(
                     mcu_time + decel_time_offset, closest_d - decel_down_d,
                     -step_dist, closest_d - decel_offset,
                     closest_height2, height, movez_r, -accel_multiplier)